PixeLite: A Thin and Wearable High Bandwidth Electroadhesive Haptic Array

Sylvia Tan; Roberta L. Klatzky; Michael A. Peshkin; J. Edward Colgate

doi:10.1109/TOH.2023.3272635

PixeLite: A Thin and Wearable High Bandwidth Electroadhesive Haptic Array

Sylvia Tan, Roberta L. Klatzky, Michael A. Peshkin, J. Edward Colgate

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

We present PixeLite, a novel haptic device that produces distributed lateral forces on the fingerpad. PixeLite is 0.15 mm thick, weighs 1.00 g, and consists of a 4×4 array of electroadhesive brakes (“pucks”) that are each 1.5 mm in diameter and spaced 2.5 mm apart. The array is worn on the fingertip and slid across an electrically grounded countersurface. It can produce perceivable excitation up to 500 Hz. When a puck is activated at 150 V at 5 Hz, friction variation against the countersurface causes displacements of 627 <inline-formula><tex-math notation="LaTeX">$\boldsymbol{\pm }$</tex-math></inline-formula> 59 <inline-formula><tex-math notation="LaTeX">$\boldsymbol{\mu }$</tex-math></inline-formula>m. The displacement amplitude decreases as frequency increases, and at 150 Hz is 47 <inline-formula><tex-math notation="LaTeX">$\boldsymbol{\pm }$</tex-math></inline-formula> 6 <inline-formula><tex-math notation="LaTeX">$\boldsymbol{\mu }$</tex-math></inline-formula>m. The stiffness of the finger, however, causes a substantial amount of mechanical puck-to-puck coupling, which limits the ability of the array to create spatially localized and distributed effects. A first psychophysical experiment showed that PixeLite's sensations can be localized to an area of about 30% of the total array area. A second experiment, however, showed that exciting neighboring pucks out of phase with one another in a checkerboard pattern did not generate perceived relative motion. Instead, mechanical coupling dominates the motion, resulting in a single frequency felt by the bulk of the finger.

Original language	English (US)
Pages (from-to)	1-6
Number of pages	6
Journal	IEEE Transactions on Haptics
DOIs	https://doi.org/10.1109/TOH.2023.3272635
State	Accepted/In press - 2023

Keywords

Bandwidth
Couplings
Fabrication
Fingers
Glass
Haptic interfaces
Vibrations

ASJC Scopus subject areas

Human-Computer Interaction
Computer Science Applications

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10.1109/TOH.2023.3272635

Cite this

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title = "PixeLite: A Thin and Wearable High Bandwidth Electroadhesive Haptic Array",

abstract = "We present PixeLite, a novel haptic device that produces distributed lateral forces on the fingerpad. PixeLite is 0.15 mm thick, weighs 1.00 g, and consists of a 4×4 array of electroadhesive brakes (“pucks”) that are each 1.5 mm in diameter and spaced 2.5 mm apart. The array is worn on the fingertip and slid across an electrically grounded countersurface. It can produce perceivable excitation up to 500 Hz. When a puck is activated at 150 V at 5 Hz, friction variation against the countersurface causes displacements of 627 $\boldsymbol{\pm }$ 59 $\boldsymbol{\mu }$m. The displacement amplitude decreases as frequency increases, and at 150 Hz is 47 $\boldsymbol{\pm }$ 6 $\boldsymbol{\mu }$m. The stiffness of the finger, however, causes a substantial amount of mechanical puck-to-puck coupling, which limits the ability of the array to create spatially localized and distributed effects. A first psychophysical experiment showed that PixeLite's sensations can be localized to an area of about 30% of the total array area. A second experiment, however, showed that exciting neighboring pucks out of phase with one another in a checkerboard pattern did not generate perceived relative motion. Instead, mechanical coupling dominates the motion, resulting in a single frequency felt by the bulk of the finger.",

keywords = "Bandwidth, Couplings, Fabrication, Fingers, Glass, Haptic interfaces, Vibrations",

author = "Sylvia Tan and Klatzky, {Roberta L.} and Peshkin, {Michael A.} and Colgate, {J. Edward}",

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year = "2023",

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AU - Colgate, J. Edward

N1 - Publisher Copyright: Author

PY - 2023

Y1 - 2023

N2 - We present PixeLite, a novel haptic device that produces distributed lateral forces on the fingerpad. PixeLite is 0.15 mm thick, weighs 1.00 g, and consists of a 4×4 array of electroadhesive brakes (“pucks”) that are each 1.5 mm in diameter and spaced 2.5 mm apart. The array is worn on the fingertip and slid across an electrically grounded countersurface. It can produce perceivable excitation up to 500 Hz. When a puck is activated at 150 V at 5 Hz, friction variation against the countersurface causes displacements of 627 $\boldsymbol{\pm }$ 59 $\boldsymbol{\mu }$m. The displacement amplitude decreases as frequency increases, and at 150 Hz is 47 $\boldsymbol{\pm }$ 6 $\boldsymbol{\mu }$m. The stiffness of the finger, however, causes a substantial amount of mechanical puck-to-puck coupling, which limits the ability of the array to create spatially localized and distributed effects. A first psychophysical experiment showed that PixeLite's sensations can be localized to an area of about 30% of the total array area. A second experiment, however, showed that exciting neighboring pucks out of phase with one another in a checkerboard pattern did not generate perceived relative motion. Instead, mechanical coupling dominates the motion, resulting in a single frequency felt by the bulk of the finger.

AB - We present PixeLite, a novel haptic device that produces distributed lateral forces on the fingerpad. PixeLite is 0.15 mm thick, weighs 1.00 g, and consists of a 4×4 array of electroadhesive brakes (“pucks”) that are each 1.5 mm in diameter and spaced 2.5 mm apart. The array is worn on the fingertip and slid across an electrically grounded countersurface. It can produce perceivable excitation up to 500 Hz. When a puck is activated at 150 V at 5 Hz, friction variation against the countersurface causes displacements of 627 $\boldsymbol{\pm }$ 59 $\boldsymbol{\mu }$m. The displacement amplitude decreases as frequency increases, and at 150 Hz is 47 $\boldsymbol{\pm }$ 6 $\boldsymbol{\mu }$m. The stiffness of the finger, however, causes a substantial amount of mechanical puck-to-puck coupling, which limits the ability of the array to create spatially localized and distributed effects. A first psychophysical experiment showed that PixeLite's sensations can be localized to an area of about 30% of the total array area. A second experiment, however, showed that exciting neighboring pucks out of phase with one another in a checkerboard pattern did not generate perceived relative motion. Instead, mechanical coupling dominates the motion, resulting in a single frequency felt by the bulk of the finger.

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PixeLite: A Thin and Wearable High Bandwidth Electroadhesive Haptic Array

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